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TASSpecialist MathematicsSyllabus dot point

How do we describe position, direction, lines and planes in three-dimensional space using vectors?

Use 3D vectors with dot and cross products to find angles, projections, lines and planes.

Three-dimensional vectors: magnitude, dot and cross products, angles, scalar projection, and equations of lines and planes for TCE Mathematics Specialised Unit 3.

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What this dot point is asking

In three dimensions a vector has three components, a=a1i+a2j+a3k\mathbf{a} = a_1\mathbf{i} + a_2\mathbf{j} + a_3\mathbf{k}, often written as a column (a1,a2,a3)(a_1, a_2, a_3). The basic operations carry over from two dimensions, but two new ideas become essential: the cross product, and the description of lines and planes.

Magnitude and unit vectors

The magnitude (length) is

a=a12+a22+a32. |\mathbf{a}| = \sqrt{a_1^2 + a_2^2 + a_3^2}.

A unit vector in the direction of a\mathbf{a} is a^=aa\hat{\mathbf{a}} = \dfrac{\mathbf{a}}{|\mathbf{a}|}. Unit vectors are useful whenever you only care about direction, for example when writing the direction of a line.

The dot (scalar) product

ab=a1b1+a2b2+a3b3=abcosθ, \mathbf{a} \cdot \mathbf{b} = a_1 b_1 + a_2 b_2 + a_3 b_3 = |\mathbf{a}|\,|\mathbf{b}|\cos\theta,

where θ\theta is the angle between the vectors. Rearranging gives the angle:

cosθ=abab. \cos\theta = \frac{\mathbf{a}\cdot\mathbf{b}}{|\mathbf{a}|\,|\mathbf{b}|}.

Two non-zero vectors are perpendicular exactly when ab=0\mathbf{a}\cdot\mathbf{b} = 0. The scalar projection of a\mathbf{a} onto b\mathbf{b} is abb\dfrac{\mathbf{a}\cdot\mathbf{b}}{|\mathbf{b}|}, and the vector projection is abb2b\dfrac{\mathbf{a}\cdot\mathbf{b}}{|\mathbf{b}|^2}\,\mathbf{b}.

The cross (vector) product

The cross product produces a vector perpendicular to both inputs:

a×b=ijka1a2a3b1b2b3=(a2b3a3b2)i(a1b3a3b1)j+(a1b2a2b1)k. \mathbf{a}\times\mathbf{b} = \begin{vmatrix} \mathbf{i} & \mathbf{j} & \mathbf{k} \\ a_1 & a_2 & a_3 \\ b_1 & b_2 & b_3 \end{vmatrix} = (a_2 b_3 - a_3 b_2)\mathbf{i} - (a_1 b_3 - a_3 b_1)\mathbf{j} + (a_1 b_2 - a_2 b_1)\mathbf{k}.

Its magnitude is a×b=absinθ|\mathbf{a}\times\mathbf{b}| = |\mathbf{a}|\,|\mathbf{b}|\sin\theta, which equals the area of the parallelogram spanned by a\mathbf{a} and b\mathbf{b}. Note that a×b=(b×a)\mathbf{a}\times\mathbf{b} = -(\mathbf{b}\times\mathbf{a}), so order matters.

Lines and planes

The vector equation of a line through point r0\mathbf{r}_0 with direction d\mathbf{d} is

r=r0+td,tR. \mathbf{r} = \mathbf{r}_0 + t\mathbf{d}, \qquad t \in \mathbb{R}.

The equation of a plane with normal n=(a,b,c)\mathbf{n} = (a,b,c) through point r0\mathbf{r}_0 is n(rr0)=0\mathbf{n}\cdot(\mathbf{r} - \mathbf{r}_0) = 0, which expands to the Cartesian form ax+by+cz=dax + by + cz = d where d=nr0d = \mathbf{n}\cdot\mathbf{r}_0. To find a normal to a plane through three points, take the cross product of two vectors lying in the plane.

Putting it together

Many exam questions chain these tools: find a direction with subtraction, a normal with a cross product, an angle with a dot product, then assemble a line or plane equation. Lay your working out in clear named steps so each result is easy to reuse later in the question.

Exam-style practice questions

Practice questions written in the style of TASC exam questions on this dot point, with worked answer explainers. The year tag is the paper they imitate, not the source.

TCE 20236 marksThe point P(1,2,3)P(1, -2, 3) lies on the plane Π:3x+4y2z=d\Pi: 3x + 4y - 2z = d. (a) Determine dd. (b) Write the line LL through PP parallel to direction (2,μ,1)(2, \mu, -1) in parametric form. (c) If LL lies in Π\Pi, determine μ\mu.
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(a) Substitute PP into the plane equation: 3(1)+4(2)2(3)=386=113(1) + 4(-2) - 2(3) = 3 - 8 - 6 = -11. So d=11d = -11. (2 marks)

(b) A line through PP with direction (2,μ,1)(2, \mu, -1) is (x,y,z)=(1,2,3)+t(2,μ,1)(x, y, z) = (1, -2, 3) + t(2, \mu, -1), that is x=1+2tx = 1 + 2t, y=2+μty = -2 + \mu t, z=3tz = 3 - t. (2 marks)

(c) If LL lies in the plane, its direction must be perpendicular to the plane's normal (3,4,2)(3, 4, -2). Set the dot product to zero: 3(2)+4μ+(2)(1)=6+4μ+2=03(2) + 4\mu + (-2)(-1) = 6 + 4\mu + 2 = 0, so 4μ=84\mu = -8 and μ=2\mu = -2. Because PP already lies on the plane, this condition is sufficient. (2 marks)

TCE 20245 marksPlanes Π1:x+2y3z=4\Pi_1: x + 2y - 3z = 4 and Π2:2x+4y+cz=d\Pi_2: 2x + 4y + cz = d. (a) Show P(3,2,1)P(3, 2, 1) lies on Π1\Pi_1 and Q(c,d4,2)Q\left(c, \dfrac{d}{4}, -2\right) lies on Π2\Pi_2. (b) For what value of cc are the planes parallel? (c) With this cc and d=8d = 8, prove QQ also lies on Π1\Pi_1.
Show worked answer →

(a) For PP on Π1\Pi_1: 3+2(2)3(1)=3+43=43 + 2(2) - 3(1) = 3 + 4 - 3 = 4, true. For QQ on Π2\Pi_2: 2c+4(d4)+c(2)=2c+d2c=d2c + 4\left(\dfrac{d}{4}\right) + c(-2) = 2c + d - 2c = d, true. (2 marks)

(b) Two planes are parallel when their normals are scalar multiples. The normal of Π1\Pi_1 is (1,2,3)(1, 2, -3) and the normal of Π2\Pi_2 is (2,4,c)(2, 4, c). Matching (2,4,c)=2(1,2,3)(2, 4, c) = 2(1, 2, -3) gives c=6c = -6. (1 mark)

(c) With c=6c = -6 and d=8d = 8, Q=(6,2,2)Q = (-6, 2, -2). Substitute into Π1\Pi_1: (6)+2(2)3(2)=6+4+6=4(-6) + 2(2) - 3(-2) = -6 + 4 + 6 = 4, which equals the right side, so QQ lies on Π1\Pi_1. (2 marks)

TCE 20216 marksQQ is the plane 4x3y+6z=364x - 3y + 6z = 36. (a) Show A(3,2,5)A(3, 2, 5) lies on QQ. (b) Determine the equation of the line joining AA to B(1,2,3)B(1, 2, -3). (c) Find the equation of the plane parallel to QQ that contains BB.
Show worked answer →

(a) Substitute AA: 4(3)3(2)+6(5)=126+30=364(3) - 3(2) + 6(5) = 12 - 6 + 30 = 36, which matches, so AA lies on QQ. (1 mark)

(b) The direction AB=BA=(13,22,35)=(2,0,8)\overrightarrow{AB} = B - A = (1 - 3, 2 - 2, -3 - 5) = (-2, 0, -8), which simplifies to (1,0,4)(1, 0, 4). The line is (x,y,z)=(3,2,5)+t(1,0,4)(x, y, z) = (3, 2, 5) + t(1, 0, 4), that is x=3+tx = 3 + t, y=2y = 2, z=5+4tz = 5 + 4t. (3 marks)

(c) A parallel plane has the same normal (4,3,6)(4, -3, 6), so it has the form 4x3y+6z=k4x - 3y + 6z = k. Substitute B(1,2,3)B(1, 2, -3): 4618=204 - 6 - 18 = -20. The plane is 4x3y+6z=204x - 3y + 6z = -20. (2 marks)

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